US Patent 9388715 Assembling apparatus and control method

An assembling apparatus of this invention includes a main pallet and a sub pallet detachable from the main pallet, and can convey a cylinder head and parts thereof. The apparatus includes a mechanism disconnecting, from the main pallet, the cylinder head placed on the main pallet and lifting/lowering the cylinder head, a mechanism detaching the sub pallet from the main pallet and lifting/lowering the sub pallet, a mechanism holding the cylinder head lifted to a work operation region, an operation unit extracting a valve retainer from the sub pallet lifted to a part preparation region and assemble it to a cylinder head, and a device arranged between the work operation region and the part preparation region and detaching a pair of cotter pieces.